Multi-hinged skate and methods for construction of the same

ABSTRACT

An improved hinge system for pivotally coupling a skate lower portion to a skate upper cuff. The multi-hinge design incorporates a four link chain mechanism that greatly increases the number of design options for a hinged boot. The pivot axis defined by the four link chain can be designed to shift through a path of travel that generally coincides with the path of travel of the anatomical pivot axis defined by the user&#39;s foot and leg. The upper cuff and boot lower portion account for two of the four links of the four link mechanism. The other two links are either rigid bars with pin connections on both the upper cuff and the lower portion, or roller links with a pin connection to the upper and a slot like sliding surface on the lower portion. A slider link can be substituted for the roller and a slide surface can be substituted for the slot.

CROSS REFERENCE TO RELATED APPLICATIONS

This is a Continuation of application Ser. No. 10/429,202 filed May 2,2003, which is a Continuation of application Ser. No. 10/151,976 filedMay 20, 2002, and now U.S. Pat. No. 6,595,529, which is a Continuationof application Ser. No. 09/435,972 filed Nov. 8, 1999, and now U.S. Pat.No. 6,431,558, which is a Continuation of application Ser. No.08/820,588 filed Mar. 19, 1997, and now abandonded, which in turn claimsthe benefit of Provisional Application No. 60/013,681 filed Mar. 19,1996, each of the foregoing applications hereby incorporated byreference.

TECHNICAL FIELD

This invention pertains to boots for skates. In particular, it pertainsto an improved hinge system connecting the lower boot to the upper bootcuff of an ice or in-line skate.

BACKGROUND ART

Skate boots for ice skates or in-line land based skates are well known.The majority of conventional skate boots are made from molded syntheticresins. Traditional molded in-line skates, as illustrated by FIG. 1,include a single pivot axis between the lower boot (which receives andconstrains a foot) and an upper cuff (that grips the lower leg). Thepivot axis is often a rivet-type connection on each side of the boot,providing a joint located in the vicinity of the anatomical ankle joint.Conventional boots allow for rotation of the ankle, calledflexion—extension-extension (shown by the curved arrow in FIG. 1). Theboots are stiff in the lateral direction to provide support formaneuvering during skating. Unfortunately, the single pivot is difficultto locate exactly at the ankle joint, which is understood by thoseskilled in biomechanics to lie generally along an axis through the bonyprotuberances on the side of the ankle. The amount of force required tomove the lower leg (the tibia) with respect to the ankle about thispivot axis during the skating motion (flexion—extension) can accordinglybe more than it would otherwise be. The material of the boot must oftenbe deformed to obtain a full range of motion for the user's ankle.

To complicate the problem, the anatomical pivot joint actually “floats”as the angle between the foot and the lower leg changes in theflexion—extension motion. More particularly, neither the lower leg northe foot are made up of a single bone structure, and the connectionbetween the foot and lower leg is more complicated than that of a simplehinge. The anatomical pivot point accordingly shifts in relationship tothe axis through the bony protuberances on the side of the ankle as theangle of the foot relative to the lower leg shifts. A boot pivot axiscreated by a rivet-type connection, however, is fixed in the position ofthe rivet.

Another disadvantage of using the current rivet-type technology is thatall of the load transferred at the pivot joint is concentrated at thepivots. The material around these pivots on both the upper cuff and thelower boot must accordingly be built up. While the extra materialresists unwanted boot deflection due to longitudinal, lateral andtorsion loads, it also results in more costly manufacture, heavier bootsand concern for long term fatigue problems.

There are other problems and limitations with the current boottechnology. The cuff must extend low enough to reach under the pivotaxis, as well as extend high enough to grip the lower leg at a heightthat provides an adequate and comfortable lever arm. The lower boot mustextend high enough above the pivot axis to support the pivot loads. Thusthe cuff and lower boot have size and load requirements that add to theweight of the boot, add to the cost of manufacture, and adversely impactheat dissipation.

In fact, the design requirements of the single hinge approach to theflexion—extension issue restrict the number of options available to aboot designer. Once the cuff and lower boot height and weightconsiderations are met, there is little room for creative, alternativeboot designs.

Most in-line skates have a rear mounted brake pad fixed to the lowerboot behind the rear wheel. Braking occurs when the skater lifts thefront of the skate off the rolling surface to engage the brake pad withthe surface. More recently, movable brake mechanisms have beenintroduced, such as the two link chain extending between the cuff andthe rear wheel comprising the brake depicted in FIG. 1. The rotation ofthe cuff clockwise relative to the boot (which is accomplished by theskater sliding a foot forward along the road surface while keeping thewheels on the road) will bring the brake pad in contact with the roadsurface. A shortcoming of the two link brake system, however, arisesbecause two extra links must be added to the boot cuff and lower boot torealize the braking function. Also, the mechanical advantage of the twolink brake is limited and nearly constant during braking.

A skate that would reduce the total weight of the boot, reduce the costof manufacture, reduce the effort to rotate the ankle inflexion—extension during skating, and reduce the molded material surfaceand associated heat build up, would be a decided improvement toconventional designs. A new design that could incorporate flexures(living hinges) as substitutes for riveted joints would further reducemanufacturing costs. A new skate design would advantageously increasedesign options and should provide the ability to customize boots for asingle person or a grouping of individuals based on leg, ankle and footanatomy, and other preferences such as boot weight, anticipated use ofthe skates (recreational, racing, hockey, tricks, etc.), and the anklestrength of the user. Finally, an integrated brake design that avoidedthe problems of adding more complexity to the standard boot and limitedcontrol of the mechanical advantage would provide lower cost and safety,as well as other advantages over conventional systems.

SUMMARY OF THE INVENTION

The problems outlined above are in large measure addressed by themulti-hinged skate in accordance the present invention. The improvedhinged system hereof does away with the traditional single jointedconnections between the lower portion of the boot and the upper cuff ofthe boot, and presents in their stead several alternative forms ofmulti-link hinges that constrain the cuff movement relative to the lowerboot. The method for constructing the multi-hinged skates canincorporate actual anatomical measurements into the design procedures,to provide for individually customized hinged systems. The multi-hingeddesign distributes the load between the boot cuff and boot lowerportion, reducing individual pin loads as compared with a single hingeddesign, and provides for multiple design variations. The multi-hingeddesign hereof also provides for increased ventilation for cooling. Themulti-hinge design incorporates a four link chain mechanism to controlthe motion between the upper cuff and the lower boot. The upper cuff andthe lower boot account for two of the four links of the four linkmechanism. The other two links are either rigid bars with pinconnections on both the upper cuff and the lower portion, or rollerlinks with a pin connection to the upper and a slot like sliding surfaceon the lower portion. One may also substitute a slider link for theroller and slide surface for the slot. The pin connection to the rollercan be removed. The four link chain mechanism provides multipleadvantages over the traditional, single hinge joint.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side elevational view of a prior art skate including asingle rivet hinge and a two link brake system;

FIG. 2 is a side elevational view of a skate according to the presentinvention depicted in the neutral (extended) position;

FIG. 3 is similar to FIG. 2, but with the skate upper depicted in theflexed position;

FIG. 4 is a side elevational view of a second embodiment of a skate inaccordance with the present invention, with the skate upper depicted inthe flexed position;

FIG. 5 is similar to FIG. 4, but with the upper depicted in the neutralposition;

FIG. 6 is a side elevational view of a third embodiment of a skate inaccordance with the present invention, with the skate upper depicted inthe neutral position;

FIG. 7 is similar to FIG. 6, but with the upper depicted in the flexedposition;

FIG. 8 is a side elevational view of a fourth embodiment of a skate inaccordance with the present invention, with the skate depicted in theneutral position;

FIG. 9 is similar to FIG. 8, but with the skate depicted in the brakingposition;

FIG. 10 is a side elevational view of a fifth embodiment of a skate inaccordance with the present invention, with the skate depicted in theneutral position;

FIG. 11 is similar to FIG. 10, but with the skate depicted in thebraking position;

FIG. 12 is a schematic view of the skate of FIG. 11;

FIG. 13 is a side elevational view of a sixth embodiment of a skate inaccordance with the present invention, with the skate depicted in thebraking position;

FIG. 14 is an enlarged, fragmentary view of an alternative brakeconstruction;

FIG. 15 is a fragmentary view of a seventh embodiment of a skate inaccordance with the present invention, depicting an alternative methodof creating revolute joints;

FIG. 16 is a side elevational view of an eighth embodiment of a skate inaccordance with the present invention, with the skate depicted in theflexed position, and with phantom lines depicting the upper cuff in thebraking position;

FIG. 17 is a flow diagram depicting a boot design procedure inaccordance with the present invention; and

FIG. 18 is a flow diagram depicting a design procedure for custom designof a boot in accordance with the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring now to the drawings, a skate boot 10 is illustrated in FIGS.2, 3 having a lower portion 12, an upper cuff 14 and an intermediateportion 16.

The lower portion 12 includes an undercarriage 22 and either rollers 32for an in-line skate application or a blade (not shown) for an ice skateuse. Lower portion 12 also includes inner padding 35, a heal section 36,a midsection 37, a toe section 38, one or more lower buckles 39 and alower attachment section 40. The lower attachment section 40 includeslower attachment points 54. In the first embodiment of the presentinvention shown in FIGS. 2 and 3, lower attachment points 54 consist ofrevolute joints 60, 62.

The upper cuff 14 includes an outer surface 51, an upper attachmentsection 44, inner padding 46, an upper buckle 48, a rear portion 49 andmay include a downwardly extending Achilles tendon portion 49A. Theupper attachment section 44 includes upper attachment points 54′. Upperattachment points 54′ consist of revolute joints 64, 66 in the firstembodiment of the present invention.

Intermediate portion 16 includes a pair of rigid members 50, 52 on eachof the medial and lateral sides of the boot, that connect between lowerportion 12 and upper cuff 14.

The lower boot portion 12 holds the skater's foot in firm contact withskate boot 10, especially the skater's heal, ankle and toe section, tohelp transfer desired skating forces and torques to the undercarriage 22and wheels 32 or blade. The lower portion 12 is intended to be made ofmolded plastic based on methods well known in the art, but othermaterials or composites may also be used. There are many options for theshape of the lower portion 12, particularly because the presentinvention is not restricted to a single hinged connection between thelower boot and the upper cuff. The lower boot can be reduced in size andweight as compared to prior art molded lowers, due to the innovativemethod of connecting an upper cuff to the lower portion.

The lower attachment section 40 of the first embodiment has two lowerattachment points 60, 62 that serve to transfer the loads from the uppercuff 14. As described in detail below, there are many permissiblelocations for lower attachment points 54, providing multiple options tothe designer for shaping the lower portion 12, while meeting goals oflower weight, greater user comfort, reduced material volume, reducedmanufacturing cost, reduced heat build-up, lower aerodynamic drag andimproved appearance of skate boot 10.

The lower portion 12 includes one or more buckles 309 that allow thefoot to be inserted into and be secured in the lower portion 12. Thelocation and number of buckles is governed by the size of lower portion12 and the loads required to keep the skater's foot secured in the lowerportion 12. It will be understood that lower buckles may be replacedwith hook and pile attachments (or laces and eyelets) as are well knownin the art.

The upper cuff 14 serves to comfortably grip the lower leg of the skaterwhile transferring the motion and forces of the upper leg relative tothe foot into skating motion. The outer surface 51 of upper cuff 14serves as a rigid member that keeps its shape under load and impact soas to protect the lower leg, but at the same time have low weight withrespect to prior art upper cuffs. The outer surface 51 may be made ofmolded plastics or equivalent. The optional Achilles tendon portion 49Ain the rear protects that part of the leg.

The upper cuff 14 includes one or more upper buckles 48 that areintended to allow the lower leg to be inserted into and secured to theupper cuff 14. In FIG. 2, upper buckle 48 is shown in the front of uppercuff 14 but the buckle can be located elsewhere on the upper cuff. Theupper buckles may be replaced with hook and pile attachments (laces andeyelets) as are well known in the art. The inner padding 46 serves toform a comfortable interface between the lower leg of the skater and theupper cuff 14 to reduce rubbing or irritation of the leg.

The upper attachment section 44 includes upper attachment points 54′.Upper attachment points 54′ consist of revolute joints 64, 66 that mayassume a number of different locations. The loads on revolute joints 64,66 are less than the loads on lower revolute joints 60, 62, since lowerrevolute joints 60, 62 have a torque arm load not found on upperrevolute joints 64, 66. Thus the support material necessary for upperrevolute joints 64, 66 is minimized and the subsequent additional weightto the upper cuff 14 is small.

The intermediate portion 16 of the first embodiment has been designed toguide upper cuff 14 relative to the lower portion 12 based on anatomicalmotion. The intermediate portion 16 includes rigid members 50, 52 thatcan have a variety of possible lengths. The shapes of rigid members 50,52 are restricted only by the calculated locations of attachment points54 and 54′. The three dimensional geometry of rigid members 50, 52 isaccordingly a matter of the designer's choice, based on perceived forceload, desired skate boot 10 shape and artistic look.

The four-bar linkage, such as employed in the present invention, is wellknown in the art as the smallest chain of links that can control therelative motion between two bodies. Lower portion 12 has rear first pin60 and second pin 62 while upper cuff 14 includes second pin 64 andfirst pin 66. In this particular design, rigid member 50 extends betweenfirst lower pin 60 and first upper cuff pin 66 while rigid member 52extends between second lower pin 62 and second upper cuff pin 64. Theserigid members 50, 52 represent two of the four links of the four linkchain. The other two links are the lower portion 12 and the upper cuff14.

The locations of lower attachment points 54, upper attachment points 54′and rigid member 50, 52 are advantageously determined through kinematicsynthesis. Methods of kinematic synthesis can determine criticaldimensions of linkage mechanisms based on desired motion inputs.

More particularly, the locations of attachment points 54 and 54′ and thelengths of rigid members 50, 52 can be determined by actual anatomicaldata that has been digitized (measured) from an actual person movingtheir leg relative to the ankle in flexion—extension motion, while thefoot is constrained in a lower boot. Actual data from a typical skateris shown in TABLE 1, and was used in designing the embodiments depictedin FIGS. 2-7.

Table 1 represents the X, Y locations of points 70, 72 and 74 withrespect to the rear wheel hub. The angles of the lower leg with respectto the horizontal axis pointing to the right and measured counterclockwise in the three measured positions are noted in the first columnof Table 1. The first row of Table 1 is the most forward position 70, atan angle of 137 degrees. The second row is the measured values for theintermediate position 72, at an angle of 99 degrees. The third row isthe measured values for the most extended position 74 at an angle of 75degrees.

The LINCAGES software will convert the three prescribed planar designpositions of Table 1 into many pairs of pins 60, 66 and 62, 64 thatdefine rigid links 50 and 52, through non-linear mathematicalrelationships known in the art (e.g. Mechanism Design: Analysis andSynthesis, Volumes 1 & 2 by Erdman and Sandor published by Prentice Hall1984, 1991 and 1997). The four bar linkage depicted in FIG. 2 wasdeveloped with the LINCAGES software. It consists of the lower portion12 as link 1, rigid member 50 as link 2, rigid member 52 as link 3, andupper cuff 14 as link 4. The shape of the upper cuff 14 is arbitrary anddoes not affect the relative motion between the upper cuff 14 and thelower portion 12 except to possibly limit motion due to interference.The important kinematic outputs from the kinematic synthesis are pinlocations 54, 54′ and the first path tracer position 74.

A different subject would create data that would be similar to that inTABLE 1, but differences in the relative Cartesian positions X and Y andangular orientations is to be expected due to normal variations in thehuman population. Such differences between subjects can be accounted forin the boot design according to the present invention, as describedbelow.

The planar motion data of Table 1 may be converted into attachment pointlocations 54, 54′ on lower portion 12 and the upper cuff 14 receptivelyas well as rigid member 50, 52 lengths by methods of kinematic synthesisdescribed in Mechanism Design textbooks such as Mechanism Design:Analysis and Synthesis, Volumes I & 2 by Erdman and Sandor published byPrentice Hall 1984, 1991 and 1997, incorporated herein by reference. Inthese design texts, graphical and analytical methods are described thattake relative position data and convert that data into possible fourlink chains that control the motion between the coupler link (in thiscase upper cuff 14) and a base (in this case lower portion 12).Kinematic synthesis is a general methodology that has been applied tomany products such as windshield wipers, assembly equipment and landinggear, but never before to the design of a boot hinge. A well knownkinematic synthesis commercial software package called LINCAGES (@University of Minnesota), developed in part by me, was used in thedesign of the embodiments shown in FIGS. 2-7, and is incorporated hereinby reference. Graphical methods of kinematic synthesis could also beused in the design of the mechanisms of FIGS. 2-7, or other designs.

The intermediate portion 16 of the first embodiment has been designed toguide upper cuff 14 through the positions shown in TABLE I using pinconnections only. The locations of attachment point 54, 54′ determinedthrough the LINCAGES software are shown in FIG. 2, along with rigidmember 50, 52 relative lengths. It is understood that the sameanatomical data can be met with many alternative attachment pointlocations 54, 54′ and member 50, 52 lengths but there is a calculatedbut non-linear relationship between attachment point locations 54, 54′.The alternative solutions can be determined through kinematic synthesis,either with the LINCAGES program, or through graphical networks. Thechoice of these solutions is left to the designer. The three specifieddesign positions 70, 72, and 74 listed in TABLE I are also shown in FIG.2. The most forward (flexed) upper cuff 14 position 70, the most back(extended) position 74 and an intermediate position 72 are shown asboxes with arrows 76 identifying the measured relative angularorientations of the leg and upper cuff 30.

Lower portion 12 and upper cuff 14 have three dimensional geometry. Forexample, upper cuff 14 is generally a cylindrically shaped. Since thefour-bar linkage moves in co-planar motion, and the desired motion data88 of Table 1 is in the flexion-extension plane and the pins 54, 54′Must have parallel axes (along the flexion—extension-extension axis),pin connections 54, 54′ Must be in the flexion—extension-extensionplane. In this embodiment it would therefore be desirable to keep lowerpin locations 54 away from the rear portion 36 of the lower portion 12and to keep upper pin locations 54′ away from either the front or rearportion 49 of the upper cuff 14 to avoid adding material to build-up forconnecting surfaces for these pins.

The lower supports the expected load of ice or inline skating. Rigidlinks 50, 52 transfer loads from the upper cuff 14 to the lower portion12. With two lower pins 60, 62, the load is distributed, rather thanconcentrated at the one pin of the traditional molded boot. The localcross section of the mold can accordingly be reduced compared with thetraditional molded boot.

Referring to FIGS. 4 and 5, the second embodiment of the presentinvention includes a lower portion 112, an upper cuff 114 and anintermediate portion 116. The lower portion 112 includes anundercarriage 122 and either rollers 132 for an in-line skateapplication or a blade 134 (not shown) for an ice skate use. Lowerportion 112 also includes inner padding 135, a heal section 136, amidsection 137, a toe section 138, one or more lower buckles 139 and alower attachment section 140. In the second embodiment of the presentinvention, the lower attachment section 140 includes one lower revolutejoint 160 on each side of the boot and a slot 170 (shown in FIGS. 4, 5in the cut away section 121 of lower attachment section 140) on eachside of the boot.

The upper cuff 114 includes an upper attachment section 144, innerpadding 146, an upper buckle 148, an outer surface 149 and may includean Achilles tendon portion 149A. The upper attachment section 144includes upper attachment points 154′. Upper attachment points 154′consist of revolute joints 164 and 166.

Intermediate portion 116 includes an identical pair of rigid members 150on the medial side and the lateral side of the boot that connect betweenlower portion 112 and upper cuff 114. Intermediate portion 116 alsoincludes a roller 152 on each side of the boot. It is recognized thatthe rollers 152 may be replaced by sliders or equivalent. For example,FIG. 16 shows a slider 570 that replaces roller 152 in FIGS. 4 and 5.The roller 152 and slider 570 can guide the rear base of the upper cuffin slot 170 in the same fashion.

Similar to the above described first embodiment, the lower portion 112holds the skaters foot in firm contact with skate boot 10, and transfersdesired skating forces and torques to the undercarriage 122 and wheels132 or blade 134. The lower attachment section 140 of the secondembodiment differs from the first embodiment in that it has one lowerattachment point at lower revolute joint 160 and one slot 170 on eachside for receiving, the load transferred from the upper cuff 114. Thereare a variety of permissible locations for lower revolute joint 160 andlocation of slot 170 that could be used by the designer in meeting thegoals of lower weight, greater user comfort, reduced material volume,reduced manufacturing cost, reduced heat build-up, lower aerodynamicdrag and/or artistic look of skate boot 10.

The lower portion 112 includes one or more buckles 139 that allow thefoot to be inserted into and secured to the lower portion 112. Thelocation and number of buckles would be governed by the size of lowerportion 112 and the loads required to keep the skaters foot secured inthe lower portion 112. It is understood that lower buckles may bereplaced with hook and pile connectors or laces and eyelets as are wellknown in the art.

The upper cuff 114 comfortably grips the lower leg of the skater andtransfers the motion and forces of the upper leg relative to the footinto skating motion. The outer surface 149 of upper cuff 114 serves as arigid member that keeps its shape under load and impact, protecting thelower leg but at the same time having low weight with respect to priorart upper cuffs. The outer surface 149 may be made of molded plastics orequivalent and may include an Achilles tendon portion 149A in the rearto protect that part of the leg.

The upper cuff 114 includes one or more upper buckles 148 that areintended to allow the lower leg to be inserted into and secured to theupper cuff 114.

In FIG. 4, upper buckle 148 is shown in the front of upper 114 but thebuckle 148 can be located elsewhere on the upper cuff. The upper bucklesmay be replaced with hook and pile connectors or laces and eyelets asare well known in the art. The inner padding 146 serves to form acomfortable interface between the lower leg of the skater and the uppercuff 114 to reduce rubbing or irritation of the leg.

The upper attachment section 144 includes upper attachment points 154′.Upper attachment points 154′ consist of revolute joints 164, 166. Thelocation of the joints can vary, as described in detail below.

The intermediate portion 116 of the second embodiment is designed toguide upper cuff 114 relative to the lower portion 112 based onanatomical motion. The intermediate portion 116 includes rigid member150 that has a variety of possible lengths and a roller 152 that has avariety of possible positions. The shape of rigid member 150 isrestricted only by the selected locations of pins 160 and 166. The threedimensional geometry of rigid member 150 is accordingly left to thedesigner based on perceived force load, boot shape and artistic look.

The locations of pins 160, 166, slot 170 as well as rigid member 150 areagain selected by methods of kinematic design called kinematicsynthesis. Lower portion 112, rigid member 150, upper cuff 114 androller 152 make up a four link chain of links which is different in formfrom that of the first embodiment. The form of the four link chain issometimes called a crank-slider mechanism. The four bar chain of thesecond embodiment and depicted in FIGS. 4 and 5 was determined from thesame anatomical data of Table 1.

Planar motion data 88 may be converted into pin locations 160, 166 thatdefine the end positions of rigid member 150 and the location of slot170 by methods of kinematic synthesis described in Mechanism Designtextbooks such as Mechanism Design: Analysis and Synthesis, Volumes I &2 by Erdman and Sandor. Either the LINCAGES software or graphicalmethods of kinematic synthesis can be used to determine pin and slotlocations, and rigid member lengths.

The intermediate portion 116 of the second embodiment has been designedto guide upper cuff 114 through positions shown in TABLE 1 using pin androller connections. The three specified design positions 70, 72, and 74listed in TABLE 1 are also shown in FIG. 4, 5. The most forward (flexed)upper cuff 14 position 70, the most back (extended) position 74 and anintermediate position 72 are shown as boxes with arrows 76 identifyingthe relative angular orientations of the leg and upper cuff 114.

The intermediate portion 116 includes an identical pair of rigid members150 on the medial side and on the lateral side of the boot. A pair ofrollers 152 on the medial side and the lateral side of the boot extendbetween the lower boot 112 and upper cuff 114. Rollers 152 are connectedwith pins 164 to the upper cuff 114 and have contact with the lower boot112 in slot 170. Notice that the outside layer(s) of the lower 112 iscut away at line 121 to expose slot 170 in FIGS. 4, 5. The method ofconnection between members 150 and lower portion 112 and upper cuff 114is by pins or rivets 160, 166.

The locations of pins 160 166, the lengths of rigid members 150, thelocation of rollers 152 and the angle of slot 170 are determinedaccording to the anatomical data of TABLE 1. In the depicted version ofthe second embodiment, the slot is straight and inclined. Roller 152 andslot 170 are kinetically equivalent to a very long rigid link that wouldhave an equivalent lower pin connection in the direction perpendicularto the slot direction and a large distance away from the boot. Forequivalent lower pin connections that are twenty or more times the wheel132 diameter, the slot will be very straight. For lower pin connectionsless than ten times the wheel 132 diameter, the slot will be more curvedsuch that the radius of curvature is the length of the equivalent rigidlink. The shape of the upper cuff 114 is arbitrary and does not affectthe relative motion between the upper cuff 114 and the lower boot 112except to possibly limit motion due to interference. The importantkinematic outputs from the kinematic synthesis are pin locations 160,166, roller 152 location, slot 170 angle and the first path tracerposition 74.

In this second embodiment, rigid link 150 and roller 152 will transferloads from the upper cuff 114 to the lower 112. The roller 152 and slot170 are intended to carry most of the load so that the rigid links 150may be designed accordingly and pin connection 160 will not have as muchload.

Referring to FIGS. 6 and 7, the third embodiment includes a lowerportion 212, an upper cuff 214 and an intermediate portion 216. The mostsignificant difference between the third and second embodiment is thatthe lower attachment section 240 includes upper attachment points 254′on each side of the boot consisting of slots 260 and 270 (shown in FIG.6, 7 in the cut away section 221 of lower attachment section 240) oneach side of the boot.

The upper cuff 214 includes an upper attachment section 244 whichincludes upper attachment points 254′. Upper attachment points 254′consist of revolute joints 264 and 266.

Intermediate portion 216 includes rollers 250, 252 on each side of theboot. It is recognized that the rollers 250, 252 may be replaced bysliders or equivalent.

The lower attachment section 240 of the third embodiment includes slots260, 270 that receive the load from the upper cuff 214 through theintermediate portion 216. There are many permissible locations of slots260, 270 which can be selected through kinematic synthesis.

The upper attachment section 214 includes upper attachment points 254′.Upper attachment points 254′ consist of revolute joints 264 and 266 thatmay assume a number of different locations.

The intermediate portion 216 of the third embodiment has been designedto guide upper cuff 214 relative to the lower portion 212 based onanatomical motion. The intermediate portion 216 includes rollers 250 and252.

The locations of pins 264, 266, slots 260, 270 and rollers 250 and 252are again selected through kinematic synthesis. Lower 212, upper cuff214 and rollers 250, 252 make up a four-bar chain of links which isdifferent in form from that of the first and second embodiments. Thefour bar chain of the third embodiment (sometimes called a double-slidermechanism) corresponds to the same anatomical data of TABLE 1. In thethird embodiment depicted in FIGS. 6 and 7, the slots are straight andinclined. The rollers and slots are again kinematically equivalent tovery long rigid links that would have equivalent lower pin connectionsin the direction perpendicular to the slot direction and a largedistance away from the boot. The shape of the upper cuff 214 isarbitrary and does not affect the relative motion between the upper cuff214 and the lower 212 except to possibly limit motion due tointerference. Appropriate pin locations 264, 266, roller locations 250and 252, slot 260, 270 locations and angles and the first path tracerposition 74, as depicted in FIG. 7, can be determined through kinematicsynthesis.

Rollers 250, 252 transfer loads from the upper cuff 214 to the lowerboot 212. The load is accordingly shared and distributed. Slider jointsor equivalent may replace rollers 250, 252.

A fourth embodiment of the boot design in accordance with the presentinvention is depicted in FIGS. 8 and 9. The fourth embodiment includeslower boot 312, upper cuff 314 and intermediate portion 316. Lower boot312 includes lower attachment pivots 360, 362. The upper cuff 314includes upper attachment pivots 364, 366, extension 368 and integralbrake 370. The integral brake 370 has a brake pad 372, depicted in lowersurface position 374 and 374′ respectively, in FIGS. 8 and 9, withrespect to ground 376.

The four link chain depicted in FIGS. 8 and 9 is of the same type asintroduced in FIGS. 2, 3, but with different dimensions. Upper cuffpivots 364 and 366 of FIGS. 8 and 9 correspond to, but are at differentlocations, as compared to upper cuff pivots 64 and 66 of FIGS. 2 and 3.Also, lower pivots 360 and 362 correspond to, but are at differentlocations, as compared to lower pivots 60 and 62. The pivots 360, 362,364, and 366 generate a four link chain designed to control the motionof the upper cuff 314 relative to the lower boot 312. During the normalrange of motion of the lower leg with respect to the foot while skating,brake pad lower surface 374 does not contact ground 376. Intentionalrotation of the lower leg, and thus upper cuff 314 clockwise relative tothe lower 312, however, (which is accomplished by the skater slidingtheir foot forward along the road surface while keeping the wheels onthe road) will bring the brake pad lower surface 374′ in contact withthe ground 376, as depicted in FIG. 9.

Referring to FIGS. 10, 11 and 12, a fifth embodiment of the boot designin accordance with the present invention includes lower boot 412, uppercuff 414, and intermediate portion 416. Lower boot 412 includes lowerattachment pivots 460, 462. The upper cuff 414 includes upper attachmentpivots 464, 466, buckle(s) 448, inner padding 446, rear portion 449, andmay include Achilles tendon portion 449A.

The intermediate portion 416 includes rigid links 450, 452, extension468 of rigid link 450, and integral brake 470 at the end of extension468. The integral brake 470 is shiftable between lower surface positions474 and 474′, depicted in FIGS. 10 and 11 respectively, with respect toground 476.

The four link chain shown in FIGS. 10-12 is of the same type asintroduced in FIGS. 8, 9 and FIGS. 2, 3, but with different dimensions.Upper cuff pivots 464 and 466 of FIGS. 10-12 correspond to, but are atdifferent locations, as compared to upper cuff pivots 64 and 66 of FIGS.2 and 3. Also, lower cuff pivots 460 and 462 correspond to, but are atdifferent locations, as compared to lower cuff pivots 60 and 62. Thepivots 460, 462, 464, and 466 comprise a four link chain designed tocontrol the relative motion of the upper cuff 414 relative to the lowerboot 412. As the cuff is shifted by the lower leg clockwise with respectto the lower boot, the brake pad moves into contact with the ground(FIG. 11). Referring to the schematic depiction of FIG. 12, the four-barchain depicted in FIGS. 10 through 12 presents a favorable motiontrajectory (482) of the brake pad. The trajectory path of the tip 572 ofthe Coupler triangle represents the lower surface of the brake pad 472.Note that this path is nearly perpendicular to the road surface 476 asthe brake pad approaches the road surface 476. As with previousembodiments, the embodiment of FIGS. 10 and 12 can be developed withstandard kinematic synthesis, employing the LINCAGES software, orgraphical analysis.

The path of travel of the edge of the brake pad can also be determinedby other methods, such as the use of instant centers. The method ofinstant centers can also be useful in the design of multi-link hinges.More particularly, the orientation of the pairs of rigid links aredesigned specifically to simulate the anatomical ankle joint—the centerof rotation between the cuff and the lower boot is designed to beessentially at the same location as the human ankle. By Kennedy'stheorem (See Mechanism Design: Analysis and Synthesis, referred to aboveand incorporated by reference) the instant center of rotation is at theintersection of the lines between the pivots of the two links. The fourpivot locations can be changed to locate the simulated ankle joint in aspecified region, but only a finite set of combinations will beacceptable. As the cuff moves relative to the lower boot, the crossingpoint will move some. The movement of this simulated ankle joint can beselected to match the shifting of the anatomical axis, and can beselected to positively affect the mechanical advantage of the skaterduring braking.

Note that there have been two integral brake systems depicted, one inFIGS. 8, 9 and the other in FIGS. 10-12. In the first case, the brake isan extension of the upper cuff; in the second, the brake is an extensionof one of the rigid links. The brake pad is connected to theforward-most link pairs 450 (one on each side of the boot). One reasonfor this is that the forward link moves at a higher angular velocitythan cuff 414 and requires less cuff motion to engage the brake pad tothe ground surface. The brake can be connected to any of the componentsthat are moving with respect to the lower member. For example, the brakemay also be connected to the roller (or slider) 164 of the embodiment inFIGS. 4, 5 or either roller (or slider) 250, 252 of the embodiment inFIGS. 6, 7. Note that, in each of these cases, as the upper cuff movesclockwise towards its neutral position, the direction of movement of theroller (slider) is toward the ground.

FIGS. 13-14 depict a sixth embodiment of the boot in accordance with thepresent invention. The embodiment of FIGS. 13-14 includes a three stepbraking system that is actuated by clockwise movement of the upper cuffrelative to the lower portion. FIGS. 13-14 depict the same multi-hingedesign of FIGS. 10, 11 but with a more advanced multi-stage brake thatcould as well be incorporated into the other depicted embodiments. Thisembodiment includes extension arm 468, and brake pad 472. Extension arm468 includes cavity 490, slot 496 and inner surface 498. Cavity 490includes spring 492 and parallel surfaces—194. Slot 496 has a pair ofinterference nubs 500. Brake pad 472 includes lower surface 474, upperparallel slide surfaces 476 and screw 478.

The primary braking system is the same as has been described earlier:the extension arm 468 rotation is initiated by clockwise rotation of theupper cuff relative to the lower boot such that brake pad lower surface474 comes in contact with the road surface 470. Extension arm 468,however, includes cavity 490 that houses spring 492 and, parallelsurfaces 494 that accept brake pad 472. Brake pad 472 includes upperparallel slide surfaces 476, slidably received within extension armparallel surfaces 494. Screw 478 is inserted into brake pad 472, fixingthe brake pad 472 in the distal end of the extension arm 468 and againstthe force of spring 492. Screw 478 is initially inserted into lowersection of slot 496 below a pair of interference nubs 500. During normalbraking, spring 492 and nubs 500 hold the brake in the down position andprovide enough normal force between the pad lower surface 474 and theroad surface 470 for standard braking. The primary brake has compressionspring 492 (or equivalent) plus nubs 500 between the extension arm 468and the brake pad 472. When the skater requires quicker deceleration,more force on the upper cuff will continue clockwise rotation ofextension arm 468. Spring 492 will compress and screw 478 will be forcedpast nubs 500 so that screw 478 will now be in the upper portion of slot496. As this occurs, brake pad 472 will slide up into cavity 490 asupper parallel slide surfaces 476 slide inside extension arm parallelsurfaces 494. This upward motion of brake pad 472 with respect toextension arm 468 shifts inner surface 498 into rear wheel 502. Thusthere is an “emergency brake” in which further clockwise rotation of theupper cuff beyond the initial road contact position will bring part ofthe extension arm 468 into contact with rear wheel 502. This slows therotation of rear wheel 502. The rear wheel 502 will still have somerotation (although slower than that of the other wheels and slower thanthat required for keeping up with the road velocity at the point ofcontact of the rear wheel 502). This reduced rotational velocity willcause skidding (and therefore dissipate kinetic energy and speed), butthe wear on the rear wheel 502 will be distributed around its peripheryand not cause a flat spot in the rear wheel 502 surface. Full force onthe cuff in the clockwise direction, however, could be extended tofreeze the rotation of rear wheel 502.

Inner surface 498 could alternatively come in contact with some otherportion of the rear wheel assembly, such as part of the hub or thewheels rolling surface, for dissipation of kinetic energy.

The three step braking system described above includes: normal pressureon the upper cuff (which is accomplished by the skater sliding theirfoot forward along the road surface beyond the ankle motion required fornormal skating) causing brake pad 472 to contact the road surface;further clockwise pressure that would trigger the extension arm 468 tocontact with rear wheel 502 (but allow the rear wheel 502 to slowlyrotate); and full clockwise rotation and that would completely stop therotation of the rear wheel 502. The brake pad is located on an extensionof one of the four-bar links. The link extension can also include a“thumb wheel” 510 for extending the length of the link, to adjust forpad wear.

Referring to FIG. 15, a seventh embodiment of the present inventionreplaces one or more rivet type joints of the multi-hinge system withflexures. Since the relative rotations between the lower boot, the rigidlinks and the cuff are small, these joints can be fabricated as flexures(narrowed down portions in the mold) that concentrate the bending at thedesired. FIG. 15 depicts a portion of a skate boot similar to thatdepicted in FIGS. 10 through 12, but with the revolute joints 460, 464,466, and 462 replaced by flexures 520, 524, 526, and 522. The kinematicdimensions of the four link chain defined by the revolute joint 460,464, 466, and 462 locations are identical, it being understood that thecenters of the narrowed down sections of flexures 520, 524, 526, and 522serve as the equivalent rivet locations. The advantages of this seventhembodiment include low cost, and an automatic return to the neutralposition (if desired) when the force of the lower leg on the upper cuffis removed. Low cost is realized in part because a single mold can beemployed for the three sections of the boot: the upper cuff, the lowerboot and the intermediate section. Also, assembly cost and the extracost of the rivets is saved.

FIG. 16 depicts an eighth embodiment of the present invention wherein abrake is incorporated within a slider link. The embodiment of FIG. 16has the same linkage geometry as depicted in FIGS. 4 and 5. As the uppercuff rotates clockwise, the slider moves diagonally downwardly and tothe right, from the perspective of FIG. 16. The brake pad is accordinglybrought into contact with the road surface. A spring or more rigidcontact could be positioned between the cuff link and the break toprovide greater torque on the brake pad. This is particularly the casesince the angle between the upper cuff and the brake link decreases asthe ankle extends towards the braking position. Thus a compression ortorsional spring would store force to impart a transfer of load betweenthe upper cuff and the brake link. Also, an extension of the upper cuffcould make contact with the brake link to provide additional torque tothe brake link, such as is indicated at E in FIG. 16.

FIG. 17 is a flow diagram that outlines a multi-hinge skate boot designprocedure. The first step 700 is to determine end user needs based onthe specific skating activity such as recreational in-line skating orstreet hockey. From this knowledge, the designer determines boot designconstraints in second step 704 such as desired ankle movements along thethree orthogonal axes and stiffness of the boot hinge system. The nextstep 706 is to measure actual anatomical motion of one or more humansand determine the resulting ankle range of motion in the specificskating activity that the boot is being designed for. From thisinformation, step 708 requires selection of prescribed design positions(e.g. design positions 70, 72, 74 along with design angles 76 to createplanar data 88 similar to Table 1). The selection of link joint types(pin, roller or slider) in step 710 is based on previous deliberationssuch as the desired skating activity in step 700 and determination ofboot constraints in 704. In some cases, a multi-hinged mechanism withpin joints may make sense where in other cases rollers or sliders may bemore appropriate.

Next kinematic synthesis (step 712) is carried out by either analytical(such as using the LINCAGES software as described above) or graphicalmethods. Based on the kinematic synthesis method chosen, step 716 thenincludes surveying a number of potential solutions. From step 704 thedesign must extract desired boot characteristics such as the acceptablesize constraints on the upper cuff and lower boot in step 714. Forstreet hockey usage, the desired outer boot surface area would be muchlarger than for a racing application for example. With inputs from steps716 and 714, step 718 is completed by specifying the specific heightconstraints of the cuff and lower boot. In step 720, a specificmulti-hinge linkage is chosen from the potential solutions generated instep 716. Step 724 also follows step 714, wherein detailed calculationsare performed such as structural analysis (which could include bendingand torsion deflection analysis and or finite element analysis). Also,experimental methods can be applied and manufacturing constraints shouldbe considered. For example, based on the projected cost ceiling andvolume of sales, certain methods of manufacture may or may not beappropriate. This realization will in turn dictate design decisionswhich must be applied to boot step 726 along with input from step 720.

The boot system is prototyped and tested in step 728, leading to anevaluation in step 730. The designer will either accept and release thefinished design to the market or reject it. If sufficient satisfactionis not reached, then modification is required. The process can actuallythen return to any of the previous steps of FIG. 17. The decision of howfar one retreats in the multi-hinge skate boot design procedure dependson the time available and the level of dissatisfaction. For instance,the kinematic performance of the finished prototype of step 728 may bequite satisfactory but the lateral stiffness may be too high for theprojected skating application of step 700. In this instance the designermay only want to return as far as step 724. FIG. 17 is a generaltemplate for the multi-hinge skate boot design procedure; modificationof the steps is anticipated in appropriate circumstances.

FIG. 18 is a second flow diagram, outlining a custom skate boot designprocedure. The first step 800 is to determine end user needs based onprojected skating activity such as recreational in-line skating orstreet hockey. During the second step 802, the functional needs of skateusers are sorted according to anticipated use and skill level. Forexample, the anticipated skill level may range from beginner to advancedrecreational skaters; and general skating plus street hockey may be theprojected uses. From this knowledge the designer determines boot designconstraints for each sub grouping in the second step 804. Theseconstraints may include desired ankle movements along the threeorthogonal axes and stiffness of the boot hinge system. The next step806 is to measure actual anatomical motion of a human in each of thesesub groupings. This will help determine the resulting range of motion ofthat human in each specific skating activity that the boot is beingdesigned for.

From this information, step 808 requires selection of an initial set ofprescribed design positions (e.g. design positions 70, 72, 74 along withdesign angles 76 to create planar data 88 similar to TABLE 1). Theselection of link joint types (pin, roller or slider) in step 810 isbased on previous deliberations such as the desired skating activity instep 800 and the boot constraints of 804. In some cases, a multihingedmechanism with pin joints may make sense where in other cases rollers orsliders may be more appropriate. Next, kinematic synthesis (step 812) iscarried out by either analytical methods (such a using the LINCAGESsoftware as described above), or graphical methods. Based on thekinematic synthesis method chosen, step 816 includes surveying a numberof potential solutions for the initial set of design positions. Fromstep 804 the designer must extract desired boot characteristics for alluses anticipated in step 800 (such as the acceptable size constraints onthe upper cuff and lower boot) in step 814. With inputs from steps 816and 814, step 818 is completed when the specific height constraints ofthe cuff and lower boot are specified.

In step 820, a specific (default) multi-hinge linkage is chosen from thepotential solutions generated in step 816. Alternative linkageconfigurations are selected in step 822 that satisfy the other needsidentified in step 800. This step has the objective of identifyingadjustments in the multi-hinge system that help customize the hinge to aspecific end user. These adjustments should be simple to make, such asmoving, a single or a small number of pivot location(s) on either theupper cuff or lower portion to a new location. Other adjustments mightinclude changing the angle of a slot or the location of that slot. Alsopossible is a change of length of one of the rigid links of the hinge.This determination can be done by standard kinematic analysis of thedefault multi-hinge system with a systematic change of one parameter ata time or other optimization methods known in the art. The result ofstep 822 will be a default and a number of alternative multi-hingeconfigurations in which the adjustment from the default design to any ofthe others is simple and prescribed.

Step 824 also follows step 814, where detailed calculations areperformed such as structural analysis (which could include bending andtorsion deflection analysis and or finite element analysis). Also,experimental methods can be applied and manufacturing constraints shouldbe considered. For example, based on the projected cost ceiling andvolume of sales, certain methods of manufacture may or may not beappropriate. This realization will in turn dictate decisions which mustbe applied to the design of the boot in step 826. Also input from step822 will help in the design of the adjustment system necessary forcustomization of this boot system. The boot is prototyped and tested instep 828 leading to an evaluation in step 830. The designer will eitheraccept and release the finished design to the market or reject it. Ifsufficient satisfaction is not reached, then modification is required.The process can actually then return to any of the previous steps inFIG. 18. The decision of how far one retreats in the multi-hinge skateboot design procedure depends on the time available and the level ofdissatisfaction. For instance, the kinematic performance of the finishedprototype of step 828 may be quite satisfactory but the lateralstiffness may be too high for the projected skating application of step800. In this instance, the designer may only want to return as far asstep 824.

An end user would be asked questions about their skill level and thedesired use of the skate boot at the place of purchase (step 832). Theskater may even be tested (either range of motion or ankle strength orboth). Based on these determinations, the multi-hinge is custom adjustedfor that end user in step 834 (with input from the analysis donepreviously in step 826). It is also possible that the end user could beprovided information of how to adjust the multi-hinge system for achange of skating activity, or for an alternate user such as in a rentalsituation. FIG. 18 is a general template for a custom skate boot designprocedure which includes adjustable hinges; modification of the steps isanticipated in appropriate circumstances.

The present invention can include additions to the above embodiments,such as built-in limit stops in the lower boot to limit the range ofmotion of the multi-hinge system at either or both ends of theflexion—extension motion. Inner boots are well known in the art and areassumed possible additions. The addition of springs or spring elementsbetween the lower boot and one or more members of the multi-hinge systemis anticipated if assist is required (for example in the instance ofspring return to a neutral position for the flex hinge embodiment inFIG. 16). TABLE 1 CUFF ANGLE X LOCATION Y LOCATION 137 DEGREES  8.3INCHES  9.6 INCHES 70 99 DEGREES 4.0 INCHES 12.3 INCHES 72 75 DEGREES0.7 INCHES 12.7 INCHES 74

1. A method of designing a boot for a skate having an upper portion, alower portion and a multi-hinged linkage assembly, the methodcomprising: determining how said skate will be used; determining designconstraints for said boot based on how said skate will be used;measuring anatomical and kinematic ranges of motion of at least oneuser; selecting prescribed design positions and design angles; creatingplanar data by using said design positions and design angles; selectingat least one link size and at least one link type; kinematicallysynthesizing locations of pins and slots in said upper portion and saidlower portion; surveying linkage solutions; adding upper portion andlower portion constraints; choosing a specific multi-hinge linkage;performing a structural analysis; designing said boot, therebydeveloping a prototype design; and manufacturing a prototype of saidboot using said prototype design.
 2. The method of claim 1, furthercomprising testing said prototype.
 3. A method of designing a boot for askate, the boot comprising a lower portion, an upper portion, and amulti-link hinge assembly, the method comprising: determining userneeds; selecting a range of user functional needs; determining userconstraints; measuring anatomical ranges in at least one user; selectingan initial set of design positions and design angles; selecting a linktype or a joint type; kinematically synthesizing a set of designpositions; selecting boot characteristics; surveying linkage solutions;adding cuff and lower boot constraints; choosing a default linkageconfiguration; choosing alternate linkage configurations; designing aprototype of said boot, and testing said prototype.
 4. The method ofclaim 3, further including modifying said prototype.
 5. The method ofclaim 4, further comprising measuring a specific customer's motions. 6.The method of claim 5, further including customizing the multi-linkhinge assembly for said specific customer based on said measurements ofsaid specific customer's motions.